Apparatus and method for tracking objects

Abstract

An apparatus comprises processing circuitry is configured to receive at least one previous position of a previous target from a track data list; to determine whether a position of a target determined by a radar measurement is within a vicinity of the previous position; and replace the previous position with the position in the track data list in response to the position being within the vicinity of the previous position.

1 . An apparatus comprising:
 processing circuitry configured to:
 receive at least one previous position of a previous target from a track data list; 
 determine whether a position of a target determined by a radar measurement is within a vicinity of the previous position; and 
 replace the previous position with the position in the track data list in response to the position being within the vicinity of the previous position. 
   
     
     
         2 . The apparatus according to  claim 1 , wherein the processing circuitry is further configured to insert the position into the track data list in response to the position not being within the vicinity of the previous position. 
     
     
         3 . The apparatus according to  claim 1 , wherein the processing circuitry is further configured to associate the position with a zone representing a predetermined range of positions. 
     
     
         4 . The apparatus according to  claim 1 , wherein each of the previous position and the position of the target determined by the radar measurement comprises at least one range information and at least one angle information. 
     
     
         5 . The apparatus according to  claim 1 , wherein the processing circuitry is further configured to remove the position from the track data list in response to the position being outside an area of interest. 
     
     
         6 . The apparatus according to  claim 1 , further comprising an output interface configured to output presence information indicating presence within a field of view of the radar measurement. 
     
     
         7 . The apparatus according to  claim 6 , wherein the presence information comprises at least one of a number of targets present, a presence flag indicating the presence of at least one target, or a number of zones comprising a target. 
     
     
         8 . The apparatus according to  claim 7 , wherein the processing circuitry is further configured to generate the presence flag in response to the track data list comprising at least one position. 
     
     
         9 . A system, comprising:
 a processor:   a memory coupled to the processor with instructions stored thereon, wherein the instructions, when executed by the processor enable the system to:
 receive at least one previous position of a previous target from a track data list; 
 determine whether a position of a target determined by a radar measurement is within a vicinity of the previous position; and 
 replace the previous position with the position in the track data list in response to the position being within the vicinity of the previous position. 
   
     
     
         10 . The system of  claim 9 , further comprising a radar sensor configured to generate target information. 
     
     
         11 . The system of  claim 10 , wherein the instructions, when executed by the processor, further enable the system to identify a group of targets in the radar measurement and to derive the target information for every member of the group of targets. 
     
     
         12 . The system of  claim 11 , wherein the instructions, when executed by the processor, further enable the system to identify whether the targets in the group are moving. 
     
     
         13 . The system of  claim 10 , wherein the instructions, when executed by the processor, further enable the system to remove unwanted signal components from a range-doppler representation of the radar measurement. 
     
     
         14 . The system of  claim 10 , further comprising an output interface configured to output presence information indicating presence within a field of view of the radar measurement. 
     
     
         15 . The system of  claim 14 , further comprising control circuitry configured to control an operation of the system based on the presence information. 
     
     
         16 . A method to process data of a radar sensor, comprising:
 receiving target information indicating a position of a target determined by a radar measurement;   receiving at least one previous position of a previous target from a track data list;   determining whether the position is within a vicinity of the previous position; and   replacing the previous position with the position in the track data list if the position is within the vicinity of the previous position.   
     
     
         17 . The method of  claim 16 , further comprising:
 outputting presence information indicating presence within a field of view of the radar sensor in response to the track data list including at least one position.   
     
     
         18 . The method of  claim 16 , further comprising inserting the position into the track data list in response to the position not being within the vicinity of the previous position. 
     
     
         19 . The method of  claim 16 , further comprising associating the position with a zone representing a predetermined range of positions. 
     
     
         20 . The method of  claim 16 , wherein each of the previous position and the position of the target determined by the radar measurement comprises at least one range information and at least one angle information.